Classes
class	Actuator

struct	ActuatorInfo
	Contains semantic info about a given actuator loaded from XML (URDF) More...

class	ActuatorInterface
	Virtual Class to implement when integrating a 1 DoF actuator into ros2_control. More...

class	CommandInterface

struct	ComponentInfo

struct	ControllerInfo
	Controller Information. More...

struct	HardwareInfo
	This structure stores information about hardware defined in a robot's URDF. More...

struct	InterfaceInfo

struct	JointInfo
	Contains semantic info about a given joint loaded from XML (URDF) More...

class	LoanedCommandInterface

class	LoanedStateInterface

class	ReadOnlyHandle
	A handle used to get and set a value on a given interface. More...

class	ReadWriteHandle

class	ResourceManager

class	ResourceStorage

class	Sensor

class	SensorInterface
	Virtual Class to implement when integrating a stand-alone sensor into ros2_control. More...

class	StateInterface

class	System

class	SystemInterface
	Virtual Class to implement when integrating a complex system into ros2_control. More...

struct	TransmissionInfo
	Contains semantic info about a given transmission loaded from XML (URDF) More...

Enumerations
enum class	return_type : std::uint8_t { OK = 0 , ERROR = 1 }

Functions
HARDWARE_INTERFACE_PUBLIC std::vector< HardwareInfo >	parse_control_resources_from_urdf (const std::string &urdf)
	Search XML snippet from URDF for information about a control component.

std::string	interfaces_to_string (const std::vector< std::string > &start_interfaces, const std::vector< std::string > &stop_interfaces)

Variables
constexpr char	HW_IF_POSITION [] = "position"
	Constant defining position interface.

constexpr char	HW_IF_VELOCITY [] = "velocity"
	Constant defining velocity interface.

constexpr char	HW_IF_ACCELERATION [] = "acceleration"
	Constant defining acceleration interface.

constexpr char	HW_IF_EFFORT [] = "effort"
	Constant defining effort interface.

Detailed Description

Function Documentation

std::vector< HardwareInfo > hardware_interface::parse_control_resources_from_urdf ( const std::string & urdf )

Search XML snippet from URDF for information about a control component.

Parameters

[in] urdf string with robot's URDF

Exceptions

std::runtime_error if a robot attribute or tag is not found